To extend IT&E approach for safety, sIT&E [1]} includes safety constraints as additional dimensions to the policy repertoire. As such, the repertoire now contains diverse policies to perform the same goal oriented task (e.g., to walk forward as fast as possible), with different behaviours or outcomes (e.g., walking gaits) and with different safety scores. Given the safety constraints, sIT&E figures out the policy through trial-and-error using constrained BO [2]}. The main limitation of sIT&E is that when the goal of the task changes in the real world, the repertoire needs to be evolved again, which is computationally expensive - typically takes several hours. In addition, as the number of safety constrained increases, the dimensionality of the repertoire increases which makes the BO less efficient.
